Development and control of a master-slave leg exoskeleton for knee and ankle rehabilitation | |
| Author | Parntip Intaganok |
| Call Number | AIT Thesis no.ISE-19-37 |
| Subject(s) | Robotic exoskeletons Robotics--Human factors |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | |
| Abstract | This master thesis is mainly focused on development and control of a master-slave leg exoskeleton for knee and ankle rehabilitation robot. The exoskeleton robot is built to have a simple mechanism and it can be used with left leg and right leg. Also it can adjust the length of the shank link for several lengths. Moreover, the exoskeleton robot is able to perform real-time. All three controllers that are implemented in the robot give pleasant outcomes. Especially, PD position control based disturbance observer, it can improve the system to be better than using only PD position controller. Besides, servo controller gives the best results in position control of slave exoskeleton. Force controller of master exoskeleton is able to work and to make the exoskeleton having a safety movement, in fact it can prevent forcing slave to move |
| Year | 2019 |
| Corresponding Series Added Entry | |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Abeykoon, A. M. Harsha S. ;Keun, Song Weon ; |
| Scholarship Donor(s) | Royal Thai Government Fellowship; |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2019 |